/*
 * File: J_la_T05_q4.c
 *
 * MATLAB Coder version            : 5.2
 * C/C++ source code generated on  : 23-Apr-2025 08:38:52
 */

/* Include Files */
#include "J_la_T05_q4.h"
#include <math.h>

/* Function Definitions */
/*
 * J_LA_T05_Q4
 *     U54 = J_LA_T05_Q4(IN1,IN2)
 *
 * Arguments    : const double in1[5]
 *                const double in2[5]
 *                double u54[16]
 * Return Type  : void
 */
void J_la_T05_q4(const double in1[5], const double in2[5], double u54[16])
{
  double t10;
  double t11;
  double t12;
  double t13;
  double t14;
  double t15;
  double t16;
  double t17;
  double t18;
  double t19;
  double t2;
  double t20;
  double t21;
  double t22;
  double t23;
  double t24;
  double t25;
  double t3;
  double t4;
  double t5;
  double t51;
  double t52;
  double t53;
  double t54;
  double t6;
  double t68;
  double t69;
  double t7;
  double t71;
  double t8;
  double t89;
  double t9;
  /*     This function was generated by the Symbolic Math Toolbox version 8.7.
   */
  /*     09-Apr-2025 18:11:47 */
  t2 = cos(in2[0]);
  t3 = cos(in2[1]);
  t4 = cos(in2[2]);
  t5 = cos(in2[3]);
  t6 = cos(in2[4]);
  t7 = cos(in1[0]);
  t8 = cos(in1[1]);
  t9 = cos(in1[2]);
  t10 = cos(in1[3]);
  t11 = cos(in1[4]);
  t12 = sin(in2[0]);
  t13 = sin(in2[1]);
  t14 = sin(in2[2]);
  t15 = sin(in2[3]);
  t16 = sin(in2[4]);
  t17 = sin(in1[0]);
  t18 = sin(in1[1]);
  t19 = sin(in1[2]);
  t20 = sin(in1[3]);
  t21 = sin(in1[4]);
  t22 = t7 * t8;
  t23 = t7 * t18;
  t24 = t2 * t3;
  t25 = t3 * t12;
  t51 = t25 + t2 * t7 * t13;
  t52 = t23 + t3 * t8 * t17;
  t53 = t24 + -(t7 * t12 * t13);
  t54 = t22 + -(t3 * t17 * t18);
  t7 = t8 * t12;
  t69 = (t2 * t13 * t18 + t7 * t17) + t23 * t25;
  t8 *= t2;
  t71 = (t8 * t13 + t22 * t25) + -(t12 * t17 * t18);
  t25 = (t8 * t17 + t23 * t24) + -(t12 * t13 * t18);
  t68 = t4 * t13 * t17 + t14 * t52;
  t24 = (t7 * t13 + t2 * t17 * t18) + -(t22 * t24);
  t3 = t4 * t9;
  t89 = (-(t9 * t13 * t14 * t17) + t3 * t52) + t19 * t54;
  t7 = t4 * t19;
  t23 = (t13 * t14 * t17 * t19 + t9 * t54) + -(t7 * t52);
  t12 = t14 * t19;
  t52 = (t12 * t53 + t9 * t69) + t7 * t71;
  t8 = t9 * t14;
  t17 = (t8 * t51 + t19 * t25) + t3 * t24;
  t13 = (t12 * t51 + -(t9 * t25)) + t7 * t24;
  t54 = (t8 * t53 + -(t19 * t69)) + t3 * t71;
  t24 = t4 * t51 + -(t14 * t24);
  t2 = t5 * t10;
  t18 = t10 * t15;
  t22 = (-(t18 * t68) + t20 * t23) + t2 * t89;
  t7 = t15 * t20;
  t25 = t5 * t20;
  t23 = (t7 * t68 + t10 * t23) + -(t25 * t89);
  t12 = t4 * t53 - t14 * t71;
  t8 = (t7 * t12 + t10 * t52) + t25 * t54;
  t3 = (t7 * t24 + t25 * t17) + t10 * t13;
  t7 = (t18 * t24 + t2 * t17) + -(t20 * t13);
  t25 = t6 * t21;
  u54[0] = -t11 * t22 - t25 * t23;
  u54[1] = -t11 * t7 + t25 * t3;
  t12 = (-(t20 * t52) + t2 * t54) + t18 * t12;
  u54[2] = t11 * t12 - t25 * t8;
  u54[3] = 0.0;
  t25 = t6 * t11;
  u54[4] = t21 * t22 - t25 * t23;
  u54[5] = t21 * t7 + t25 * t3;
  u54[6] = -t21 * t12 - t25 * t8;
  u54[7] = 0.0;
  t25 = t16 * t23;
  u54[8] = t25;
  u54[9] = -t16 * t3;
  t12 = t16 * t8;
  u54[10] = t12;
  u54[11] = 0.0;
  u54[12] = t25 * 0.1085;
  u54[13] = t16 * t3 * -0.1085;
  u54[14] = t12 * 0.1085;
  u54[15] = 0.0;
}

/*
 * File trailer for J_la_T05_q4.c
 *
 * [EOF]
 */
